Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - dropWeight S: Initializing worksiteServer uperviso: WorkSite::WorkSite -- Adding attributes r::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/dorado538/workSite.cfg createTask() - ext: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/dorado538/vehicle.cfg" ernalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer : WorkSite::WorkSite -- Finished loading parameters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x21ed8 Supervisor::createTask() - newTailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - octansServer Supervisor::createTask() - kearfottServer Supervisor::createTask: ahrs if is Ahrs () - kearfott: Preparing to fork DvlS: I'm the child...forking erver: Preparing to fork S: I'm the child...forking upervisor::createTask() - parosciServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts : SerialDevice: done... : creating if InsIFServer : Preparing to fork : I'm the child...forking : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : Crossbow.cc: Setting polled mode : Crossbow.cc: Setting polled mode : SerialDeviceDriver::initialize() : Crossbow.cc: In getSerialNumber() : SerialDevice: done... : Crossbow.cc: _device->read failed with error : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : 3 Modules found : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : Parosci::init() - mode set okay : KearfottDriver: unable to open gps interface : Parosci.cc -- Initial pressure = 1.172109 : Parosci.cc -- Parosci initial pressure period = 30.459670 : Parosci.cc -- Parosci initial temp period = 5.879664 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : KearfottDriver: unable to open ctd interface : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : Navigation: Server for aux sensor "Altimeter" not found : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : Navigation: Server for aux sensor "Gps" not found : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : wierd PD4 message : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : Navigation: Server for aux sensor "Velocimeter" not found : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint has changed to state Active : Behavior::shouldBehaviorStart -- Checking to see if acousticAbort should run : -- it should : LayeredControl::execute() -- (t = 0.000000) Behavior acousticAbort has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : 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KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: 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updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : KearfottDriver: updating with external sensors : Supervisor::signalHandler(); caught signal 15 : Supervisor::cleanup() - delete _theSupervisor : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object kearfottOutput **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task InsIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object octansOutput **** : **** SharedData destructor for object kearfottOutput **** : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task InsIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::shutdown() : **** SharedData destructor for object crossbowOutput **** : Supervisor::shutdown() - done() : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() - _theTaskServer doesn't exist : TaskServer::signalHandler() - _theTaskServer doesn't exist